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<p>Coordinate Conversion API.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdlib.h&gt;</code><br />
<code>#include &quot;<a class="el" href="a00002_source.html">TYApi.h</a>&quot;</code><br />
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Include dependency graph for TYCoordinateMapper.h:</div>
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<p><a href="a00005_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00173.html">TY_PIXEL_DESC</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00177.html">TY_PIXEL_COLOR_DESC</a></td></tr>
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<tr class="memitem:a99ad1ca94cfe3d4307b6b6a2d3a5d5ef"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><b>TYMAP_CHECKRET</b>(f,  bufToFree)</td></tr>
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typedef struct <a class="el" href="a00173.html">TY_PIXEL_DESC</a>&#160;</td><td class="memItemRight" valign="bottom"><b>TY_PIXEL_DESC</b></td></tr>
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<tr class="memitem:af8509aa795f9ebb98bce7071f3f6b79a"><td class="memItemLeft" align="right" valign="top"><a id="af8509aa795f9ebb98bce7071f3f6b79a"></a>
typedef struct <a class="el" href="a00177.html">TY_PIXEL_COLOR_DESC</a>&#160;</td><td class="memItemRight" valign="bottom"><b>TY_PIXEL_COLOR_DESC</b></td></tr>
<tr class="separator:af8509aa795f9ebb98bce7071f3f6b79a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a466f1f9ecdb947607c5da179d1826c19"><td class="memItemLeft" align="right" valign="top">TY_CAPI&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00005.html#a466f1f9ecdb947607c5da179d1826c19">TYInvertExtrinsic</a> (const <a class="el" href="a00069.html">TY_CAMERA_EXTRINSIC</a> *orgExtrinsic, <a class="el" href="a00069.html">TY_CAMERA_EXTRINSIC</a> *invExtrinsic)</td></tr>
<tr class="memdesc:a466f1f9ecdb947607c5da179d1826c19"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate 4x4 extrinsic matrix's inverse matrix.  <a href="#a466f1f9ecdb947607c5da179d1826c19">More...</a><br /></td></tr>
<tr class="separator:a466f1f9ecdb947607c5da179d1826c19"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d3c838a1ee03c5f030457d51c2fd375"><td class="memItemLeft" align="right" valign="top">TY_CAPI&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00005.html#a1d3c838a1ee03c5f030457d51c2fd375">TYMapDepthToPoint3d</a> (const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *src_calib, uint32_t depthW, uint32_t depthH, const <a class="el" href="a00173.html">TY_PIXEL_DESC</a> *depthPixels, uint32_t count, <a class="el" href="a00061.html">TY_VECT_3F</a> *point3d, float f_scale_unit=1.0f)</td></tr>
<tr class="memdesc:a1d3c838a1ee03c5f030457d51c2fd375"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map pixels on depth image to 3D points.  <a href="#a1d3c838a1ee03c5f030457d51c2fd375">More...</a><br /></td></tr>
<tr class="separator:a1d3c838a1ee03c5f030457d51c2fd375"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32faf6be5df30fc39e58f135e0fe41a0"><td class="memItemLeft" align="right" valign="top">TY_CAPI&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00005.html#a32faf6be5df30fc39e58f135e0fe41a0">TYMapPoint3dToDepth</a> (const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *dst_calib, const <a class="el" href="a00061.html">TY_VECT_3F</a> *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, <a class="el" href="a00173.html">TY_PIXEL_DESC</a> *depth)</td></tr>
<tr class="memdesc:a32faf6be5df30fc39e58f135e0fe41a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map 3D points to pixels on depth image. Reverse operation of TYMapDepthToPoint3d.  <a href="#a32faf6be5df30fc39e58f135e0fe41a0">More...</a><br /></td></tr>
<tr class="separator:a32faf6be5df30fc39e58f135e0fe41a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ae23d9ec90f2554984519826198e9df"><td class="memItemLeft" align="right" valign="top">TY_CAPI&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00005.html#a3ae23d9ec90f2554984519826198e9df">TYMapDepthImageToPoint3d</a> (const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *src_calib, int32_t imageW, int32_t imageH, const uint16_t *depth, <a class="el" href="a00061.html">TY_VECT_3F</a> *point3d, float f_scale_unit=1.0f)</td></tr>
<tr class="memdesc:a3ae23d9ec90f2554984519826198e9df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map depth image to 3D points. 0 depth pixels maps to (NAN, NAN, NAN).  <a href="#a3ae23d9ec90f2554984519826198e9df">More...</a><br /></td></tr>
<tr class="separator:a3ae23d9ec90f2554984519826198e9df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8a7439648a50e28e3c83d5db528c5f6"><td class="memItemLeft" align="right" valign="top">TY_CAPI&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00005.html#aa8a7439648a50e28e3c83d5db528c5f6">TYMapPoint3dToDepthImage</a> (const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *dst_calib, const <a class="el" href="a00061.html">TY_VECT_3F</a> *point3d, uint32_t count, uint32_t depthW, uint32_t depthH, uint16_t *depth)</td></tr>
<tr class="memdesc:aa8a7439648a50e28e3c83d5db528c5f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map 3D points to depth image. (NAN, NAN, NAN) will be skipped.  <a href="#aa8a7439648a50e28e3c83d5db528c5f6">More...</a><br /></td></tr>
<tr class="separator:aa8a7439648a50e28e3c83d5db528c5f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a975218e39246e3aefaa357f69f2fba72"><td class="memItemLeft" align="right" valign="top">TY_CAPI&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="a00005.html#a975218e39246e3aefaa357f69f2fba72">TYMapPoint3dToPoint3d</a> (const <a class="el" href="a00069.html">TY_CAMERA_EXTRINSIC</a> *extrinsic, const <a class="el" href="a00061.html">TY_VECT_3F</a> *point3dFrom, int32_t count, <a class="el" href="a00061.html">TY_VECT_3F</a> *point3dTo)</td></tr>
<tr class="memdesc:a975218e39246e3aefaa357f69f2fba72"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map 3D points to another coordinate.  <a href="#a975218e39246e3aefaa357f69f2fba72">More...</a><br /></td></tr>
<tr class="separator:a975218e39246e3aefaa357f69f2fba72"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Coordinate Conversion API. </p>
<dl class="section note"><dt>Note</dt><dd>Considering performance, we leave the responsibility of parameters check to users. </dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright(C)2016-2018 Percipio All Rights Reserved </dd></dl>

<p class="definition">Definition in file <a class="el" href="a00005_source.html">TYCoordinateMapper.h</a>.</p>
</div><h2 class="groupheader">Macro Definition Documentation</h2>
<a id="a99ad1ca94cfe3d4307b6b6a2d3a5d5ef"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a99ad1ca94cfe3d4307b6b6a2d3a5d5ef">&#9670;&nbsp;</a></span>TYMAP_CHECKRET</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">#define TYMAP_CHECKRET</td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">f, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname">bufToFree&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Value:</b><div class="fragment"><div class="line"><span class="keywordflow">do</span>{ \</div><div class="line">    TY_STATUS err = (f); \</div><div class="line">    if(err){ \</div><div class="line">      if(bufToFree) \</div><div class="line">        free(bufToFree); \</div><div class="line">      return err; \</div><div class="line">    } \</div><div class="line">  } <span class="keywordflow">while</span>(0)</div></div><!-- fragment -->
<p class="definition">Definition at line <a class="el" href="a00005_source.html#l00227">227</a> of file <a class="el" href="a00005_source.html">TYCoordinateMapper.h</a>.</p>

</div>
</div>
<h2 class="groupheader">Function Documentation</h2>
<a id="a466f1f9ecdb947607c5da179d1826c19"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a466f1f9ecdb947607c5da179d1826c19">&#9670;&nbsp;</a></span>TYInvertExtrinsic()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TY_CAPI TYInvertExtrinsic </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="a00069.html">TY_CAMERA_EXTRINSIC</a> *&#160;</td>
          <td class="paramname"><em>orgExtrinsic</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="a00069.html">TY_CAMERA_EXTRINSIC</a> *&#160;</td>
          <td class="paramname"><em>invExtrinsic</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Calculate 4x4 extrinsic matrix's inverse matrix. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">orgExtrinsic</td><td>Input extrinsic matrix. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">invExtrinsic</td><td>Inverse matrix. </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">TY_STATUS_OK</td><td>Succeed. </td></tr>
    <tr><td class="paramname">TY_STATUS_ERROR</td><td>Calculation failed. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a3ae23d9ec90f2554984519826198e9df"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3ae23d9ec90f2554984519826198e9df">&#9670;&nbsp;</a></span>TYMapDepthImageToPoint3d()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TY_CAPI TYMapDepthImageToPoint3d </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *&#160;</td>
          <td class="paramname"><em>src_calib</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int32_t&#160;</td>
          <td class="paramname"><em>imageW</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int32_t&#160;</td>
          <td class="paramname"><em>imageH</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const uint16_t *&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="a00061.html">TY_VECT_3F</a> *&#160;</td>
          <td class="paramname"><em>point3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>f_scale_unit</em> = <code>1.0f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Map depth image to 3D points. 0 depth pixels maps to (NAN, NAN, NAN). </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src_calib</td><td>Depth image's calibration data. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthW</td><td>Width of depth image. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthH</td><td>Height of depth image. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>Depth image. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">point3d</td><td>Output point3D image. </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">TY_STATUS_OK</td><td>Succeed. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a1d3c838a1ee03c5f030457d51c2fd375"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1d3c838a1ee03c5f030457d51c2fd375">&#9670;&nbsp;</a></span>TYMapDepthToPoint3d()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TY_CAPI TYMapDepthToPoint3d </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *&#160;</td>
          <td class="paramname"><em>src_calib</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>depthW</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>depthH</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="a00173.html">TY_PIXEL_DESC</a> *&#160;</td>
          <td class="paramname"><em>depthPixels</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>count</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="a00061.html">TY_VECT_3F</a> *&#160;</td>
          <td class="paramname"><em>point3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>f_scale_unit</em> = <code>1.0f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Map pixels on depth image to 3D points. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src_calib</td><td>Depth image's calibration data. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthW</td><td>Width of depth image. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthH</td><td>Height of depth image. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthPixels</td><td>Pixels on depth image. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">count</td><td>Number of depth pixels. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">point3d</td><td>Output point3D. </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">TY_STATUS_OK</td><td>Succeed. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a32faf6be5df30fc39e58f135e0fe41a0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a32faf6be5df30fc39e58f135e0fe41a0">&#9670;&nbsp;</a></span>TYMapPoint3dToDepth()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TY_CAPI TYMapPoint3dToDepth </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *&#160;</td>
          <td class="paramname"><em>dst_calib</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="a00061.html">TY_VECT_3F</a> *&#160;</td>
          <td class="paramname"><em>point3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>count</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>depthW</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>depthH</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="a00173.html">TY_PIXEL_DESC</a> *&#160;</td>
          <td class="paramname"><em>depth</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Map 3D points to pixels on depth image. Reverse operation of TYMapDepthToPoint3d. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dst_calib</td><td>Target depth image's calibration data. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point3d</td><td>Input 3D points. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">count</td><td>Number of points. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthW</td><td>Width of target depth image. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthH</td><td>Height of target depth image. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">depth</td><td>Output depth pixels. </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">TY_STATUS_OK</td><td>Succeed. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="aa8a7439648a50e28e3c83d5db528c5f6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa8a7439648a50e28e3c83d5db528c5f6">&#9670;&nbsp;</a></span>TYMapPoint3dToDepthImage()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TY_CAPI TYMapPoint3dToDepthImage </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="a00077.html">TY_CAMERA_CALIB_INFO</a> *&#160;</td>
          <td class="paramname"><em>dst_calib</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="a00061.html">TY_VECT_3F</a> *&#160;</td>
          <td class="paramname"><em>point3d</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>count</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>depthW</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>depthH</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint16_t *&#160;</td>
          <td class="paramname"><em>depth</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Map 3D points to depth image. (NAN, NAN, NAN) will be skipped. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dst_calib</td><td>Target depth image's calibration data. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point3d</td><td>Input 3D points. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">count</td><td>Number of points. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthW</td><td>Width of target depth image. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depthH</td><td>Height of target depth image. </td></tr>
    <tr><td class="paramdir">[in,out]</td><td class="paramname">depth</td><td>Depth image buffer. </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">TY_STATUS_OK</td><td>Succeed. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a975218e39246e3aefaa357f69f2fba72"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a975218e39246e3aefaa357f69f2fba72">&#9670;&nbsp;</a></span>TYMapPoint3dToPoint3d()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">TY_CAPI TYMapPoint3dToPoint3d </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="a00069.html">TY_CAMERA_EXTRINSIC</a> *&#160;</td>
          <td class="paramname"><em>extrinsic</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="a00061.html">TY_VECT_3F</a> *&#160;</td>
          <td class="paramname"><em>point3dFrom</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int32_t&#160;</td>
          <td class="paramname"><em>count</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="a00061.html">TY_VECT_3F</a> *&#160;</td>
          <td class="paramname"><em>point3dTo</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Map 3D points to another coordinate. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">extrinsic</td><td>Extrinsic matrix. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point3dFrom</td><td>Source 3D points. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">count</td><td>Number of source 3D points. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">point3dTo</td><td>Target 3D points. </td></tr>
  </table>
  </dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">TY_STATUS_OK</td><td>Succeed. </td></tr>
  </table>
  </dd>
</dl>

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